ModernRoboticsBook.jl

Julia port of the official Modern Robotics library, which provides Python, MATLAB, and Mathematica implementations of the algorithms from Modern Robotics: Mechanics, Planning, and Control by Kevin Lynch and Frank Park.

The package provides functions for rigid-body motions, forward/inverse kinematics, velocity kinematics, dynamics, trajectory generation, and robot control.

Installation

julia> import Pkg; Pkg.add("ModernRoboticsBook")

Quick start

using ModernRoboticsBook
import LinearAlgebra as LA

# Forward kinematics (body frame)
home_ee_pose = [
    -1  0  0  0
     0  1  0  6
     0  0 -1  2
     0  0  0  1.0
]
body_screw_axes = [0 0 -1 2 0   0
                   0 0  0 0 1   0
                   0 0  1 0 0 0.1]'
joint_positions = [π/2, 3, π]

T = forward_kinematics_body(home_ee_pose, body_screw_axes, joint_positions)

Documentation

• Stable docs — latest released version
• Dev docs — current master branch
• Examples
• Function index

Attribution

This package is a Julia port of the Modern Robotics library accompanying the textbook:

Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, 2017, ISBN 9781107156302.

The textbook and companion materials are available at http://modernrobotics.org.